version: 66.11
glider: 191
mission: 5
dive: 525
start: 3 8 113 6 5 59
data:
$ID,191
$MISSION,5
$DIVE,525
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,980
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,100
$T_BOOST,6
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,580
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,15
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,55001
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5265.3208
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3912
$C_PITCH,2190
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,312
$ROLL_MAX,3859
$ROLL_DEG,30
$C_ROLL_DIVE,1520
$C_ROLL_CLIMB,1400
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3062
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,2
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,10
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.410744
$PRESSURE_SLOPE,0.0001171456
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043008043
$SEABIRD_T_H,0.0006204489
$SEABIRD_T_I,2.2177979e-05
$SEABIRD_T_J,2.3040141e-06
$SEABIRD_C_G,-9.8990955
$SEABIRD_C_H,1.13379
$SEABIRD_C_I,-0.00086898328
$SEABIRD_C_J,0.00011426309
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,080313,055552,2431.868,-3727.325,39,0.9,39,-13.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-61.8
$GPS2,080313,060529,2431.878,-3727.345,16,0.9,16,-13.8
$SPEED_LIMITS,0.105,0.182
$TGT_NAME,E
$TGT_LATLONG,2435.000,-3718.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,91.1,16766,-13.3,-6.049,-18.38
$D_GRID,980
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-0.60,-97.3,0.0,0.0,0,83,0.00,0.00,-57.28,0.000,6,0.000,0.000,155,1524,3460,0,0,0,0,0,0,28.83,28.83,14.64
$GC,87,-0.60,-97.3,4.6,-9.3,4,101,10.12,1.90,0.00,0.000,4,0.415,0.067,1996,461,3462,1,0,0,0,0,0,13.51,14.33,28.83
$GC,310,-0.58,-97.3,30.5,-8.7,19,313,0.00,1.80,0.00,0.000,6,0.000,0.039,1991,1515,3464,0,0,0,0,0,0,28.83,14.33,28.83
$GC,610,-0.58,-97.3,55.9,-8.9,39,613,0.00,1.95,0.00,0.000,4,0.000,0.080,1991,464,3464,0,0,0,0,0,0,28.83,14.09,28.83
$GC,686,-0.56,-97.3,63.1,-9.8,44,690,0.00,1.83,0.00,0.000,6,0.000,0.039,1983,1526,3464,0,0,0,0,0,0,28.83,14.28,28.83
$GC,985,-0.55,-97.3,91.2,-9.7,64,986,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,1528,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1285,-0.53,-97.3,120.8,-9.7,84,1289,0.15,1.98,0.00,0.000,4,0.239,0.080,2016,464,3464,0,0,0,0,0,0,13.98,14.00,28.83
$GC,1453,-0.53,-97.3,135.3,-8.7,95,1457,0.00,1.83,0.00,0.000,6,0.000,0.038,2011,1524,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,1751,-0.56,-97.3,157.3,-6.8,115,1755,0.00,1.98,0.00,0.000,4,0.000,0.079,2011,461,3465,0,0,0,0,0,0,28.83,13.97,28.83
$GC,1798,-0.59,-97.3,160.3,-6.9,118,1801,0.00,1.83,0.00,0.000,6,0.000,0.038,2003,1525,3465,0,0,0,0,0,0,28.83,14.06,28.83
$GC,2097,-0.63,-97.3,177.8,-5.7,138,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1526,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2396,-0.68,-97.3,195.6,-6.3,158,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,1526,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,-0.73,-97.3,214.2,-6.0,178,2703,0.15,1.85,0.00,0.000,4,0.120,0.051,1939,2580,3465,0,0,0,0,0,0,14.40,14.11,28.83
$GC,2892,-0.70,-97.3,227.9,-7.3,191,2896,0.00,1.92,0.00,0.000,6,0.000,0.060,1938,1514,3466,0,0,0,0,0,0,28.83,14.09,28.83
$GC,3207,-0.67,-97.3,252.8,-8.3,211,3209,0.15,0.00,0.00,0.000,6,0.258,0.000,1969,1513,3466,0,0,0,0,0,0,13.94,28.83,28.83
$GC,3508,-0.65,-97.3,274.4,-7.4,221,3512,0.00,1.95,0.00,0.000,4,0.000,0.080,1970,467,3464,0,0,0,0,0,0,28.83,13.91,28.83
$GC,3642,-0.63,-97.3,286.0,-8.7,226,3646,0.00,1.80,0.00,0.000,6,0.000,0.039,1965,1524,3465,0,0,0,0,0,0,28.83,14.23,28.83
$GC,3961,-0.62,-97.3,311.3,-8.0,237,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,1521,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4257,-0.60,-97.3,335.2,-8.0,247,4261,0.12,1.98,0.00,0.000,4,0.253,0.080,1990,462,3465,0,0,0,0,0,0,14.09,13.90,28.83
$GC,4332,-0.60,-97.3,341.1,-7.9,250,4336,0.00,1.83,0.00,0.000,6,0.000,0.038,1985,1529,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,4648,-0.60,-97.3,362.4,-6.7,261,4651,0.00,2.00,0.00,0.000,4,0.000,0.081,1985,464,3464,0,0,0,0,0,0,28.83,13.81,28.83
$GC,4721,-0.60,-97.3,368.2,-7.5,264,4725,0.00,1.80,0.00,0.000,6,0.000,0.039,1977,1519,3464,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5038,-0.60,-97.3,391.1,-7.4,275,5041,0.00,1.85,0.00,0.000,4,0.000,0.050,1970,2577,3463,0,0,0,0,0,0,28.83,14.09,28.83
$GC,5095,-0.60,-97.3,394.6,-7.6,277,5099,0.00,1.92,0.00,0.000,6,0.000,0.060,1970,1518,3463,0,0,0,0,0,0,28.83,14.07,28.83
$GC,5397,-0.59,-97.3,420.9,-8.5,287,5401,0.00,1.98,0.00,0.000,4,0.000,0.081,1970,462,3462,0,0,0,0,0,0,28.83,13.88,28.83
$GC,5487,-0.57,-97.3,427.8,-9.0,290,5492,0.17,1.83,0.00,0.000,6,0.226,0.039,2000,1524,3464,0,0,0,0,0,0,13.62,14.21,28.83
$GC,5789,-0.63,-97.3,451.8,-7.4,300,5793,0.00,1.98,0.00,0.000,4,0.000,0.081,2000,467,3461,0,0,0,0,0,0,28.83,13.90,28.83
$GC,5878,-0.68,-97.3,457.3,-7.1,303,5881,0.00,1.80,0.00,0.000,6,0.000,0.040,1996,1521,3461,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6180,-0.73,-97.3,477.1,-6.0,313,6182,0.12,0.00,0.00,0.000,6,0.135,0.000,1947,1523,3460,0,0,0,0,0,0,14.45,28.83,28.83
$GC,6478,-0.73,-97.3,496.9,-6.7,323,6482,0.00,1.98,0.00,0.000,4,0.000,0.082,1947,469,3459,0,0,0,0,0,0,28.83,13.86,28.83
$GC,6643,-0.69,-97.3,509.8,-8.0,329,6647,0.00,1.83,0.00,0.000,6,0.000,0.041,1939,1523,3458,0,0,0,0,0,0,28.83,14.17,28.83
$GC,6961,-0.65,-97.3,535.6,-8.5,340,6963,0.17,0.00,0.00,0.000,6,0.243,0.000,1976,1524,3457,0,0,0,0,0,0,13.81,28.83,28.83
$GC,7257,-0.68,-97.3,558.5,-7.8,350,7261,0.00,2.00,0.00,0.000,4,0.000,0.082,1976,463,3457,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7303,-0.70,-97.3,562.1,-8.0,352,7307,0.00,1.83,0.00,0.000,6,0.000,0.041,1972,1519,3455,0,0,0,0,0,0,28.83,14.17,28.83
$GC,7618,-0.70,-97.3,586.6,-7.6,363,7622,0.00,2.00,0.00,0.000,4,0.000,0.083,1972,461,3456,0,0,0,0,0,0,28.83,13.84,28.83
$GC,7676,-0.70,-97.3,590.4,-7.9,365,7680,0.00,1.83,0.00,0.000,6,0.000,0.041,1964,1519,3456,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7979,-0.70,-97.3,614.1,-7.1,375,7982,0.00,2.00,0.00,0.000,4,0.000,0.083,1964,463,3455,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8036,-0.69,-97.3,617.3,-7.0,377,8040,0.00,1.83,0.00,0.000,6,0.000,0.041,1956,1519,3455,0,0,0,0,0,0,28.83,14.17,28.83
$GC,8341,-0.67,-97.3,635.9,-5.4,387,8342,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,1519,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8639,-0.65,-97.3,650.7,-4.8,397,8643,0.00,2.00,0.00,0.000,4,0.000,0.084,1956,463,3453,0,0,0,0,0,0,28.83,13.82,28.83
$GC,8727,-0.63,-97.3,655.0,-5.6,400,8731,0.15,1.85,0.00,0.000,6,0.250,0.042,1979,1522,3453,0,0,0,0,0,0,13.60,14.12,28.83
$GC,9031,-0.63,-97.3,673.5,-6.8,410,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,1523,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,-0.68,-97.3,701.0,-10.0,420,9331,0.00,2.03,0.00,0.000,4,0.000,0.085,1979,461,3451,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9403,-0.71,-97.3,709.1,-10.7,423,9407,0.00,1.85,0.00,0.000,6,0.000,0.043,1974,1520,3451,0,0,0,0,0,0,28.83,14.13,28.83
$GC,9721,-0.75,-97.3,742.4,-10.5,434,9729,0.00,2.00,0.00,0.000,4,0.000,0.085,1975,469,3450,0,0,0,0,0,0,28.83,13.81,28.83
$GC,9867,-0.75,-97.3,757.7,-10.2,439,9871,0.00,1.85,0.00,0.000,6,0.000,0.042,1967,1525,3449,0,0,0,0,0,0,28.83,14.11,28.83
$GC,10184,-0.75,-97.3,783.1,-7.3,450,10187,0.00,1.88,0.00,0.000,4,0.000,0.055,1962,2577,3448,0,0,0,0,0,0,28.83,13.99,28.83
$GC,10228,-0.77,-97.3,786.1,-6.9,452,10232,0.00,1.95,0.00,0.000,6,0.000,0.063,1960,1520,3448,0,0,0,0,0,0,28.83,13.97,28.83
$GC,10547,-0.80,-97.3,805.2,-5.7,463,10554,0.00,2.00,0.00,0.000,4,0.000,0.086,1960,465,3447,0,0,0,0,0,0,28.83,13.67,28.83
$GC,10646,-0.80,-97.3,810.5,-5.7,466,10650,0.00,1.85,0.00,0.000,6,0.000,0.042,1952,1521,3447,0,0,0,0,0,0,28.83,14.10,28.83
$GC,10949,-0.78,-97.3,828.6,-6.2,476,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,1522,3445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11247,-0.77,-97.3,848.8,-7.1,486,11251,0.00,2.03,0.00,0.000,4,0.000,0.086,1952,465,3444,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11382,-0.74,-97.3,860.4,-8.6,491,11386,0.00,1.88,0.00,0.000,6,0.000,0.043,1944,1526,3443,0,0,0,0,0,0,28.83,14.04,28.83
$GC,11701,-0.72,-97.3,888.4,-9.3,502,11708,0.00,2.05,0.00,0.000,4,0.000,0.086,1941,461,3443,0,0,0,0,0,0,28.83,13.81,28.83
$GC,11757,-0.69,-97.3,894.3,-9.8,504,11761,0.00,1.88,0.00,0.000,6,0.000,0.043,1937,1523,3443,0,0,0,0,0,0,28.83,14.05,28.83
$GC,12077,-0.67,-97.3,925.2,-9.8,515,12079,0.15,0.00,0.00,0.000,6,0.256,0.000,1967,1525,3442,0,0,0,0,0,0,13.79,28.83,28.83
$GC,12373,-0.71,-97.3,951.4,-8.7,525,12376,0.00,2.05,0.00,0.000,4,0.000,0.087,1967,463,3441,0,0,0,0,0,0,28.83,13.80,28.83
$GC,12463,-0.73,-97.3,958.0,-8.7,528,12467,0.00,1.88,0.00,0.000,6,0.000,0.043,1962,1524,3440,0,0,0,0,0,0,28.83,14.06,28.83
$STATE,12729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12729,begin apogee
$GC,12737,-0.18,0.0,981.5,-8.1,537,12865,0.62,0.00,115.35,1.811,6,0.187,0.000,2126,1398,3062,0,0,0,0,1,0,13.81,28.83,13.07
$STATE,12866,end apogee,CONTROL_FINISHED_OK
$STATE,12866,begin climb
$GC,12871,0.60,97.3,988.5,0.0,541,13007,0.82,1.92,124.62,1.804,4,0.103,0.054,2382,2463,2664,0,0,0,0,1,0,14.03,14.14,13.09
$GC,13228,0.61,169.7,990.0,3.0,554,13334,0.00,1.95,95.95,1.737,6,0.000,0.070,2391,1399,2371,0,0,0,0,1,0,28.83,14.28,13.13
$GC,13633,0.55,175.9,967.8,5.8,567,13644,0.00,1.83,4.70,1.935,4,0.000,0.055,2390,2444,2346,0,0,0,0,0,0,28.83,14.37,13.32
$GC,13768,0.49,177.7,960.6,6.0,571,13776,0.20,1.90,2.35,1.945,6,0.268,0.070,2356,1403,2336,0,0,0,0,0,0,13.99,14.32,13.39
$GC,14068,0.50,204.5,944.7,4.9,581,14126,0.00,1.92,45.92,1.424,4,0.000,0.094,2361,346,2228,0,0,0,0,1,0,28.83,14.31,13.25
$GC,14219,0.47,207.5,936.0,5.9,586,14230,0.00,1.85,2.83,1.943,6,0.000,0.045,2362,1415,2215,0,0,0,0,0,0,28.83,14.42,13.30
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$STATE,25621,end climb,SURFACE_DEPTH_REACHED
$STATE,25621,begin surface coast
$FINISH,0.8,1.025746
$STATE,25637,end surface coast,CONTROL_FINISHED_OK
$STATE,25637,begin surface
$SM_CCo,25719,0.00,0.000,0,0,1637,349.55
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$IRIDIUM_FIX,2422.84,-3731.52,070313,222209
$TT8_MAMPS,0.023219,0.023219
$HUMID,60.27
$INTERNAL_PRESSURE,9.23345
$TCM_TEMP,25.00
$XPDR_PINGS,3
$SC_FREEKB,7568608
$24V_AH,13.1,243.382
$10V_AH,12.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.850,188.050,594.950,0.000,0.000,0.000,0.000,289.525,0.750,0.000,17.447,3106.215,19293.697,908.547,2216.512,750.676,0.000,2178.032,0.000,1849.274,0.000,0.549,0.000
$DEVICE_MAMPS,415.395,104.040,1944.630,0.000,0.000,0.000,0.000,175.185,420.000,0.000,20.220,9.670,2.190,8.920,29.140,35.880,0.000,15.800,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,25694.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.325,0.000,0.000,0.000
$MEM,345552
$DATA_FILE_SIZE,40060,1068
$CAP_FILE_SIZE,244271,0
$CFSIZE,260034560,188317696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,7,0,0
$CURRENT,0.112,275.9,1
$GPS,080313,131558,2432.883,-3726.708,38,1.0,38,-13.8